Jaluro Specifications
From TeamFrednetWiki
Contents |
Mechanics / Hardware
General
Jaluro consists out of a chassis linked over two axis to two wheels on a alloy rim. On the chassis is a camera plattform, including a HD Camera, which is capeable to tilt the camera over 180° with a stepper motor. A little low resolution navigation camera is installed, view looking forward. A small antenna is mounted on the right side of the chassis. Two DC motors (brushless) with an external rotor will drive the wheels and are in the alloy rims installed (in wheel drive). Alternativley it might become neccessary to put the the drive motors into the chassis and add a transmission to the wheels.
The chassis axis is offset to the wheel axis and is "free swinging". Since the center of gravity is below the wheel axis, the body will stay stable and counteracts to the tourque given by the motors to the wheels. The weight of the rover chassis and the offset to the wheel center axis will define the maximum torque.
- max mass: 2000g
- additional mass: 500g
- width x length x height: approx. 380 x 200 x 200 mm
- max speed 100 m/h
For a visual impression, visit Drawings.
Wheel Design
Wheel and rim are one unit. The wheels will be mounted on a 3 crossing alloy rim, which has the attachment to the external rotor of the DC motor. To improve climb performance, the wheels will be provided with spikes.
- diameter x width: approx. 200 x 40 mm
- material: ?
Axis Design
The Axes connect the inner stator part of the DC Motor to the rover body (chassis). Their design is such, that wheel and rover body axis is offset. Through the axis all required wires from the DC Motor to the motor controler will be guided.
- axis offset: approx. 40mm
- width x length x height: approx. 30 x 20 x 50 mm
- material:
Chassis (Rover Body)
The body has an eliptic zylinder shape. On each side of the body is a connection to the axes. On the body is an antenna, a fix oriented navigation camera, and the 180° rotateable HD camera plattform (pivot is the horizontal axis) installed.
- width x lenght x height: approx. 280 x 150 x 40 mm
- material: ?
Thermal Insulation
We'll need multi-layer insulation for our little rover. A reference product can be found here http://www.dunmore.com/products/multi-layer-films.html
->Has to be discussed / calculuated / developed
Motor Drive Unit
Two brushless DC motors with an external rotor. The motors are ungeared and placed right into the wheel rim.
- Power: 2-4 W each
- Voltage: 5 V
- Hall sensor
Electronics
Jaluro will work only with low power electronics. All parts need to be operational within this temperature range: -40°C up to +80°C.
Most probably, we will use the PC104+ technology
Main Controller
Based on the PC104+ technology, we will use a single board computer (SBC) like the VSX104+ or similar.
- Must be Linux supported!
- Input Voltage: 5V
- Power Consumption: 4 W
- Processor Architectur: x86 or ARM
- Processor speed: 300 - 500 Mhz
- 2 USB 2.0
- 1 LAN (on discussion)
- 2 RS232
- Memory: 128MB DDR2or better
- Storage: 2GB solid state
- Fanless
- How should we protect the main controller against single event latchup or burnout?
Motor Controller
Controls the two DC brushless motors and the servo drive for the camera tilt.
- Power: as low as possible
- Voltage: 5V
- Connection: RS 232 or USB 1.1 / 2.0
- Must be Linux supported!
Battery Charger
Not defined yet
Batteries
Not defined yet
Lithium Ion / Nanotechnology, see as reference a123.
- Packed: not defined yet (3s2p?)
- Balancer: yes
- Voltage: approx. 10V
- Amperehours: ? Ah
Solar Panel
Power Output: approximatly 20W
Not defined yet
Wifi Module
We evaluate WiMAX modules
- Must be Linux supported!
Antenna
- Omnidirectional antenna
- Frequency: not defined yet
- Gain: +15 up to +20 dbm
HD Camera
- Minimum of 1.3 mil pixels
- Resolution minimum: 1280 x 720
- Frames per second: 30fps
- Connection: USB2.0 / Ethernet RJ45 / PC104+
- Must be Linux supported
- Should we apply bake-out with the camera assemble to prevent the outgasing problem with camera's optics?
Nav Camera
- Low resultion, 640 x 480 sufficient (maybe even lower)
- Frames per second: 15 fps
- Connection: USB 1.1 / 2.0
Software
All Software must run under Linux. The main task are:
- running stable
Operating System
- Linux ( or equivalent)
- Kernel: most stable available
- very low resource usage
Go back to Portal:Jaluro
